CN113349929B - Spatial positioning system for distal locking hole of intramedullary nail - Google Patents
Spatial positioning system for distal locking hole of intramedullary nail Download PDFInfo
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- 210000000988 bone and bone Anatomy 0.000 description 4
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/72—Intramedullary devices, e.g. pins or nails
- A61B17/7233—Intramedullary devices, e.g. pins or nails with special means of locking the nail to the bone
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
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Abstract
The invention provides a space positioning system and a method for a distal locking hole of an intramedullary nail, wherein the system comprises an optical fiber, an optical fiber sensing demodulator, a binocular camera, a guider and the intramedullary nail, wherein: the optical fiber is used for measuring the deformation state of the intramedullary nail after being inserted into the medullary cavity, the first end of the optical fiber is inserted into and fixed in the hollow inner core of the intramedullary nail, the first end of the optical fiber is close to the distal locking hole of the intramedullary nail, and the second end of the optical fiber is connected with the input end of the optical fiber sensing demodulator; the optical fiber sensor demodulator is used for acquiring the target pose of the distal locking hole in an optical fiber global coordinate system after the intramedullary nail is inserted into the medullary cavity, and the optical fiber global coordinate system is determined based on the proximal end of the intramedullary nail; and the binocular camera is used for converting the target pose and the guider pose into a binocular camera coordinate system to obtain the relative spatial positioning between the distal locking hole and the guider after the intramedullary nail is inserted into the medullary cavity. The method has the advantages of no electromagnetic interference and strong robustness, and can more accurately position the distal locking hole of the intramedullary pin.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a spatial positioning system and a spatial positioning method for a distal locking hole of an intramedullary nail.
Background
Modern intramedullary nails are mostly cross-locked intramedullary nails, namely screws are screwed in at two ends of the intramedullary nails according to a plurality of preset directions, so that the screws penetrate through nail holes reserved on the main nail to form a stable fixing structure. However, after the intramedullary nail is inserted into the medullary cavity, the intramedullary nail may deform due to the incomplete matching with the medullary cavity, resulting in the intramedullary nail bending in an unpredictable manner, and thus it is difficult to determine the position of the multi-directional interlocking locking hole at the distal end of the main nail.
The conventional method for positioning the locking hole of the intramedullary nail mainly utilizes direct X-ray perspective imaging or electromagnetic/permanent magnet and other modes to track and position the position of the multi-directional interlocking locking hole at the distal end of the intramedullary nail. However, the X-ray based fluoroscopic navigation has a problem of a large radiation amount for medical staff and patients; the most important field generator in the existing electromagnetic navigation equipment needs to be in direct contact with a patient, the preoperative setting is complicated, and the disinfection is strictly needed. On the basis of improving the success rate of locking the distal end of the intramedullary nail, the method has practical significance for simplifying operation and equipment setting and reducing operation cost and ray radiation.
Accordingly, there is a need for a spatial positioning system and method for the distal locking hole of an intramedullary nail that addresses the above-mentioned problems.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a spatial positioning system and a spatial positioning method for a distal locking hole of an intramedullary nail.
The invention provides a space positioning system for a distal locking hole of an intramedullary nail, which comprises an optical fiber, an optical fiber sensing demodulator, a binocular camera, a guider and the intramedullary nail, wherein:
the optical fiber is used for measuring the deformation state of the intramedullary nail after being inserted into a medullary cavity, the first end of the optical fiber is inserted into and fixed in the hollow inner core of the intramedullary nail, the first end of the optical fiber is close to the distal locking hole of the intramedullary nail, and the second end of the optical fiber is connected with the input end of the optical fiber sensing demodulator;
the optical fiber sensor demodulator is used for acquiring the target pose of the distal locking hole of the intramedullary nail inserted into the medullary cavity in an optical fiber global coordinate system, and the optical fiber global coordinate system is determined based on the proximal end of the intramedullary nail;
a first optical marker and a second optical marker are arranged in the shooting range of the binocular camera and are used for converting the target pose and the guider pose into a binocular camera coordinate system to obtain the relative spatial positioning of the distal locking hole and the guider after the intramedullary nail is inserted into a medullary cavity, the first optical marker is arranged at the proximal end of the intramedullary nail, and the second optical marker is arranged on the surface of the guider; the position and posture of the guider are obtained by tracking the second optical marker through the binocular camera;
wherein, a plurality of gratings are carved in the optical fiber, and the optical fiber and the intramedullary nail are positioned on the same central shaft.
According to the spatial positioning system for the distal locking hole of the intramedullary nail, provided by the invention, a guide tube is arranged in the hollow inner core of the intramedullary nail, the optical fiber is inserted into and fixed to the hollow inner core of the intramedullary nail through the guide tube, and the optical fiber, the intramedullary nail and the guide tube are positioned on the same central shaft.
According to the spatial positioning system for the distal locking hole of the intramedullary nail, provided by the invention, the proximal end of the catheter is provided with a graduated scale.
According to the spatial positioning system for the distal locking hole of the intramedullary nail, provided by the invention, the proximal end of the catheter and the proximal end of the intramedullary nail are fixedly connected through a fixing connecting piece.
According to the spatial positioning system for the distal locking hole of the intramedullary nail, which is provided by the invention, the fixed connecting piece is provided with the elastic knob.
According to the spatial positioning system for the intramedullary nail distal locking hole, the system further comprises a display, and the binocular camera is in communication connection with the display.
The invention also provides a spatial positioning method based on any one of the spatial positioning systems for the intramedullary nail distal locking hole, which comprises the following steps:
acquiring an initial position of a distal locking hole of an intramedullary nail in a fiber global coordinate system determined based on a proximal end of the intramedullary nail prior to insertion of the intramedullary nail into a medullary cavity;
after the intramedullary nail is inserted into a medullary cavity, acquiring bending information of an optical fiber in the intramedullary nail through an optical fiber sensing demodulator, and obtaining a motion matrix of the distal locking hole according to the bending information;
according to the initial position and the motion matrix, acquiring the target pose of the distal locking hole of the intramedullary nail inserted into the medullary cavity in the optical fiber global coordinate system;
based on a binocular camera, converting the target pose and the guide pose to a binocular camera coordinate system through a first optical marker and a second optical marker to obtain the relative spatial positioning of the distal locking hole and the guide after the intramedullary nail is inserted into the medullary cavity; the guide pose is tracked by the binocular camera for the second optical marker, the first optical marker being disposed at the proximal end of the intramedullary nail and the second optical marker being disposed at the surface of the guide.
According to the spatial positioning method for the distal locking hole of the intramedullary nail provided by the invention, after the intramedullary nail is inserted into a medullary cavity, the bending information of the optical fiber in the intramedullary nail is obtained through the optical fiber sensing demodulator, and the motion matrix of the distal locking hole is obtained according to the bending information, and the method comprises the following steps:
acquiring the bending curvature and wavelength variation of each grating node in the optical fiber through an optical fiber sensing demodulator;
obtaining the curvature radius of each grating node according to the wavelength variation and the curvature;
and fitting according to the curvature radius and the distribution position of each grating node to obtain a motion matrix of the far-end locking hole.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, performs the steps of the method for spatial localization of a distal locking hole of an intramedullary nail as described in any of the above.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for spatial localization of a distal locking hole of an intramedullary nail according to any one of the preceding claims.
Compared with the prior art, the spatial positioning system and the spatial positioning method for the intramedullary nail distal locking hole have the advantages of no electromagnetic interference and strong robustness, and can more accurately position the intramedullary nail distal locking hole.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural view of a spatial positioning system for a distal locking hole of an intramedullary nail according to the present invention;
FIG. 2 is a schematic flow chart of a spatial positioning method for the distal locking hole of an intramedullary nail according to the present invention;
fig. 3 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The existing solutions for positioning the distal locking hole of intramedullary nail mainly include the following: 1. the method can directly observe the position of the distal locking hole of the intramedullary nail in a perspective way, which is the most common means in clinic, but the X-ray perspective imaging has large radiation quantity to doctors and patients, can cause interruption of the operation process, and has high requirement on the operation skill of doctors; 2. the electromagnetic/permanent magnet positioning method fixes an electromagnetic sensor or a permanent magnet sensor near a distal locking hole of an intramedullary nail, is not influenced by the deformation of the intramedullary nail, and detects the position of the electromagnetic sensor or the permanent magnet sensor through an electromagnetic field, so that the position of a multidirectional interlocking locking hole can be accurately positioned, however, the electromagnetic/permanent magnet positioning is easily interfered by surrounding ferromagnetic materials, and related accessories such as the intramedullary nail, a drill bit and the like which are compatible with electromagnetism are needed, so that the working environment is harsh, and the cost is high; 3. the mechanical positioning adopts an extra-body long frame structure and is connected with the near end of the intramedullary nail, the far-end multidirectional interlocking locking hole is positioned through the hole position with the corresponding length, the method often causes locking difficulty due to unpredictable deformation, even if part of products adopt additional drilling holes, the failure rate is high when the frame structure is adjusted by detecting the far-end position of the intramedullary nail through a compression bar, and the scheme of adjusting design is made, so that an additional incision is required to be made for a patient, and additional holes are drilled in bones, thereby causing additional injury.
The invention can place the optical fiber sensor part in the inner core of the hollow intramedullary nail to enable the optical fiber sensor part to stay at the preset position of the far end of the intramedullary nail, thereby accurately determining the position of the multi-directional interlocking locking hole at the far end extension part of the optical fiber sensor. It should be noted that, the distal end referred to in the present invention is the end of the optical fiber or intramedullary nail entering the medullary cavity; the proximal end is the end of the fiber or intramedullary nail that resides outside the medullary cavity.
Fig. 1 is a schematic structural diagram of a spatial positioning system for a distal locking hole of an intramedullary nail according to the present invention, and as shown in fig. 1, the present invention provides a spatial positioning system for a distal locking hole of an intramedullary nail, which includes an optical fiber 101, an optical fiber sensing demodulator 102, a binocular camera 103 guide 104 and an intramedullary nail 105, wherein:
the optical fiber 101 is used for measuring the deformation state of the intramedullary nail 105 after being inserted into a medullary cavity, a first end of the optical fiber 101 is inserted into and fixed in the hollow inner core of the intramedullary nail 105, the first end of the optical fiber 101 is adjacent to the distal locking hole 106 of the intramedullary nail 105, and a second end of the optical fiber 101 is connected with the input end of the optical fiber sensing demodulator 102.
In the present invention, the first end of the optical fiber 101 is pre-fixedly disposed in the hollow inner core of the intramedullary nail before the intramedullary nail is inserted into the medullary cavity, optionally, a guide tube 109 is disposed in the hollow inner core of the intramedullary nail 105, the optical fiber 101 is inserted and fixed to the hollow inner core of the intramedullary nail 105 through the guide tube 109, and the optical fiber 101, the intramedullary nail 105 and the guide tube 109 are on the same central axis, such that the first end of the optical fiber 101 is fixed in the intramedullary nail 105 through the guide tube 109.
The output end of the optical fiber sensor demodulator 102 is in communication connection with the binocular camera 103, and is used for acquiring a target pose of the distal locking hole 106 of the intramedullary nail 105 inserted into the medullary cavity in an optical fiber global coordinate system, wherein the optical fiber global coordinate system is determined based on the proximal end of the intramedullary nail 105.
In the invention, based on the bending information of the optical fiber 101 along with the intramedullary nail 105 in the medullary cavity, the target pose of the distal locking hole 106 of the intramedullary nail 105 in the optical fiber global coordinate system is obtained through the optical fiber sensing demodulator 102.
A first optical marker 107 and a second optical marker 108 are arranged in the shooting range of the binocular camera 103 and used for converting the target pose and the guide pose into a binocular camera coordinate system to obtain the relative spatial positioning of the distal locking hole 106 and the guide 104 after the intramedullary nail 105 is inserted into a medullary cavity, the first optical marker 107 is arranged at the proximal end of the intramedullary nail 105, and the second optical marker 108 is arranged on the surface of the guide 104; the director pose is tracked by the binocular camera 103 for the second optical marker 108;
wherein, a plurality of gratings are carved in the optical fiber 101, and the optical fiber 101 and the intramedullary nail 105 are on the same central axis.
In the invention, the binocular camera 103 obtains a transformation matrix between the optical fiber global coordinate system and the first optical marker coordinate system through calibration; in addition, as shown in fig. 1, by arranging the second optical marker to be fixedly connected to the surface of the guide 104, the pose of the guide 104 in the second optical marker coordinate system can be obtained through calibration. After the intramedullary nail 105 is inserted into the medullary cavity, the pose of the distal locking hole 106 of the intramedullary nail 105 and the pose of the guide 104 can be transformed into the binocular camera coordinate system in real time by tracking the first optical marker and the second optical marker in real time by the binocular camera 103, thereby navigating the locking of the distal locking hole 106 of the intramedullary nail 105 in real time.
Compared with the prior art, the spatial positioning system for the intramedullary nail distal locking hole has the advantages of no electromagnetic interference and strong robustness, and can more accurately position the intramedullary nail distal locking hole.
In one embodiment, as shown in fig. 1, the optical fiber 101 with a plurality of grating sensors integrated in the guide tube 109 is inserted into the hollow core of the intramedullary nail 105, optionally, the proximal end of the guide tube 109 and the proximal end of the intramedullary nail 105 are fixedly connected by a fixing connector 110, and the optical fiber 101 is fixed relative to the intramedullary nail 105 by the fixing connector 110. It should be noted that the guide tube 109 is used to house the optical fibers 101 engraved with a plurality of grating sensors, and has an outer diameter matching the hollow core of the intramedullary nail 105 (i.e., the outer diameter of the guide tube 109 is as close as possible to the diameter of the hollow core of the intramedullary nail 105, and the outer diameter of the guide tube 109 is smaller than the diameter of the hollow core).
Further, the guide tube 109 is inserted into the hollow core of the intramedullary nail 105, placed into the intramedullary nail 105, and any one of the distal multi-directional interlocking holes is used as a reference locking hole, so that the reference locking hole and the distal end of the guide tube 109 keep a preset distance. Wherein the catheter 109 and the built-in optical fiber 101 are changed with the shape change of the intramedullary nail 105 so that the central axes of the catheter 109, the optical fiber 101 and the intramedullary nail 105 are kept consistent. In the present invention, the distal end of the catheter 109 is closed, the proximal end cross section is in a non-standard shape, optionally, the proximal end of the catheter 109 is provided with a graduated scale, specifically, in an embodiment, a mark with a length of 10cm is engraved on the graduated scale, and the resolution is 10mm, so that the depth of the catheter 109 inserted into the intramedullary nail 105 can be identified and adjusted, and the position where the distal end of the catheter stays in the intramedullary nails with different lengths can be ensured to be the same in the intramedullary nails with different lengths (i.e. the same preset distance between the reference locking hole and the distal end of the catheter is maintained), and further, the position of the distal multi-directional interlocking locking hole of the intramedullary nail can be calculated through the calculated shape of the optical fiber. In the present invention, the fixing connector 110 is used for fixedly connecting the conduit 109 and the intramedullary nail 105 at the proximal end of the intramedullary nail 105, and optionally, a tightening knob is provided on the fixing connector 110, and the conduit 109 can be tightened after being inserted into the intramedullary nail 105 by a specified length through the tightening control of the tightening knob.
Within the shooting range of the binocular camera 103, a first optical marker and a second optical marker are provided, wherein,the fiber global coordinate system is located proximal to the intramedullary nail 105; before the intramedullary nail 105 enters the medullary cavity, the binocular camera 103 obtains the initial position of the distal locking hole 106 of the intramedullary nail 105 in the global coordinate system of the optical fiber by calibrating the first optical marker
The distal locking hole 106 may be offset from its original position because the intramedullary nail 105 and the internal optical fibers 101 may bend as the intramedullary nail 105 is inserted into the stenotic bone. By fiber optic sensing, the motion matrix T of the distal locking hole 106 in its cross-sectional plane is accurately measured Deform The position of the distal locking hole 106 of the intramedullary nail 105 after bending in the global coordinate system of the optical fiber can be obtained
It should be noted that the first optical marker 107 is fixed on the fixed connection member 107 (if the fixed connection member 107 is not present, the first optical marker 107 is directly fixed at the proximal end of the intramedullary nail 105), and is kept fixed relative to the global coordinate system of the optical fiber, and the transformation matrix from the global coordinate system of the optical fiber to the coordinate system of the first optical marker can be calibrated
The second optical marker is fixed with the guider 104, the tracking position and the tracking direction of the guider 104 are obtained in real time through the binocular camera 103, and the transformation matrix from the coordinate system of the guider to the second optical fiber marker can be obtained through calibration
Thus, the intramedullary nail distal locking hole position is translated into the binocular camera coordinate system by equation one:
converting the position of the tip of the guide into a binocular camera coordinate system by formula two:
and the locking of the intramedullary nail distal locking hole can be navigated in real time according to the relative pose change of the intramedullary nail distal locking hole and the tip end of the guider calculated in real time and displayed in the display 111, wherein the binocular camera 103 is in communication connection with the display 111.
The fiber grating sensor is arranged in the hollow inner core of the intramedullary nail, when the distal locking hole of the intramedullary nail is positioned, the fiber grating sensor is not interfered by an electromagnetic environment, the robustness is strong, the safety is greatly improved because no electricity is contained, and the radiation amount and the operation time of an operation are reduced.
Fig. 2 is a schematic flow chart of the spatial positioning method for the distal locking hole of the intramedullary nail according to the present invention, and as shown in fig. 2, the present invention provides a spatial positioning method for the spatial positioning system for the distal locking hole of the intramedullary nail according to the above embodiment, which includes:
In the invention, before the intramedullary nail enters a medullary cavity, the binocular camera acquires the initial position of the distal locking hole of the intramedullary nail in the optical fiber global coordinate system by calibrating the first optical marker
and step 203, acquiring the target pose of the distal locking hole of the intramedullary nail inserted into the medullary cavity in the optical fiber global coordinate system according to the initial position and the motion matrix.
In the present invention, after the intramedullary nail is inserted into the narrow bone, the intramedullary nail and the internal optical fibers are bent, resulting in the distal locking hole being shifted from its original position. Through optical fiber sensing, a motion matrix T of the far-end locking hole in the cross section plane of the far-end locking hole is accurately measured Deform The position of the distal locking hole of the intramedullary nail after bending in the global coordinate system of the optical fiber can be obtained
In the invention, the first optical marker is fixed at the proximal end of the intramedullary nail and is kept relatively fixed with respect to the optical fiber global coordinate system, and the transformation matrix from the optical fiber global coordinate system to the first optical marker coordinate system can be obtained through calibration
The second optical marker is fixed with the guider, the tracking position and the direction of the guider are obtained in real time through the binocular camera, and the transformation matrix from the coordinate system of the guider to the second optical fiber marker can be obtained through calibration
Further, according to the transformation matrix, the target pose and the guide pose are transformed into a binocular camera coordinate system, and the position of the far-end locking hole of the intramedullary nail is transformed into the binocular camera coordinate system through a formula I:
converting the position of the tip of the guide into a binocular camera coordinate system by formula two:
the pose of the distal locking hole of the intramedullary nail and the pose of the guider can be converted into a binocular camera coordinate system in real time, and the locking of the distal locking hole of the intramedullary nail is navigated in real time.
Compared with the prior art, the spatial positioning method for the intramedullary nail distal locking hole has the advantages of no electromagnetic interference and strong robustness, and can more accurately position the intramedullary nail distal locking hole.
On the basis of the above embodiment, the obtaining bending information of the optical fiber in the intramedullary nail by the optical fiber sensing demodulator after the intramedullary nail is inserted into the medullary cavity, and obtaining the motion matrix of the distal locking hole according to the bending information includes:
s1, acquiring the bending curvature and wavelength change of each grating node in the optical fiber through an optical fiber sensing demodulator.
In the invention, aiming at each grating sensor, an optical fiber sensing demodulator firstly measures the wavelength of an optical fiber when the optical fiber is not bent as a substrate; then, utilizing a plurality of calibration pieces with known curvatures to fit and calibrate the relation between the wavelength change quantity and the bending curvature of the grating sensor, and measuring the relation between the bending curvature K and the wavelength change quantity delta lambda of the grating sensor:
K＝A·Δλ；
wherein A is a calibrated coefficient.
S2, obtaining the curvature radius of each grating node according to the wavelength variation and the bending curvature;
and S3, fitting according to the curvature radius and the distribution position of each grating node to obtain a motion matrix of the far-end locking hole.
In the invention, a plurality of grating sensors in the optical fiber are distributed at equal distance, and the curvature radius of each grating node can be calculated by utilizing the relation between the bending curvature K and the wavelength change quantity delta lambda, thereby recovering the corresponding bending shape of the optical fiber along with the bending of the intramedullary nail. And fitting by utilizing the position distribution and the curvature radius of each grating node, so that the shape of the whole optical fiber in a two-dimensional plane can be recovered in space.
After the optical fiber is inserted into the inner core of the intramedullary nail, the global coordinate system of the optical fiber is defined to be positioned at the proximal end of the intramedullary nail, and the position of the distal locking hole of the intramedullary nail moves along with the distal end of the optical fiber, because the intramedullary nail is bent when being inserted into narrow bone, and the distal locking hole deviates from the original position. To achieve accurate spatial positioning of the distal locking hole, it is necessary to precisely measure the spatial movement of the distal locking hole. In general, the bending of the intramedullary nail in the insertion cavity is unidirectional, so the position of the distal locking hole of the intramedullary nail in the global coordinate system of the optical fiber can be measured in real time through the shape sensing of the optical fiber in the two-dimensional plane.
Fig. 3 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 3, the electronic device may include: a processor (processor) 301, a communication Interface (communication Interface) 302, a memory (memory) 303 and a communication bus 304, wherein the processor 301, the communication Interface 302 and the memory 303 complete communication with each other through the communication bus 304. Processor 301 may invoke logic instructions in memory 303 to perform a spatial localization method for an intramedullary nail distal locking hole, the method comprising: acquiring an initial position of a distal locking hole of an intramedullary nail in a fiber global coordinate system determined based on a proximal end of the intramedullary nail prior to insertion of the intramedullary nail into a medullary cavity; after the intramedullary nail is inserted into a medullary cavity, acquiring bending information of an optical fiber in the intramedullary nail through an optical fiber sensing demodulator, and obtaining a motion matrix of the distal locking hole according to the bending information; according to the initial position and the motion matrix, acquiring the target pose of the distal locking hole of the intramedullary nail inserted into the medullary cavity in the optical fiber global coordinate system; based on a binocular camera, converting the target pose and the guide pose to a binocular camera coordinate system through a first optical marker and a second optical marker to obtain the relative spatial positioning of the distal locking hole and the guide after the intramedullary nail is inserted into the medullary cavity; the guide pose is tracked by the binocular camera for the second optical marker, the first optical marker disposed at the proximal end of the intramedullary nail, the second optical marker disposed at a surface of the guide.
In addition, the logic instructions in the memory 303 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the spatial localization method for a distal locking hole of an intramedullary nail provided by the above methods, the method comprising: acquiring an initial position of a distal locking hole of an intramedullary nail in a fiber global coordinate system determined based on a proximal end of the intramedullary nail prior to insertion of the intramedullary nail into a medullary cavity; after the intramedullary nail is inserted into a medullary cavity, acquiring bending information of optical fibers in the intramedullary nail through an optical fiber sensing demodulator, and obtaining a motion matrix of the distal locking hole according to the bending information; acquiring the target pose of the distal locking hole of the intramedullary nail inserted into the medullary cavity in the optical fiber global coordinate system according to the initial position and the motion matrix; based on a binocular camera, converting the target pose and the guide pose to a binocular camera coordinate system through a first optical marker and a second optical marker to obtain the relative spatial positioning of the distal locking hole and the guide after the intramedullary nail is inserted into the medullary cavity; the guide pose is tracked by the binocular camera for the second optical marker, the first optical marker being disposed at the proximal end of the intramedullary nail and the second optical marker being disposed at the surface of the guide.
In yet another aspect, the present invention further provides a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform the spatial localization method for the distal locking hole of an intramedullary nail provided in the above embodiments, the method comprising: acquiring an initial position of a distal locking hole of an intramedullary nail in a fiber global coordinate system determined based on a proximal end of the intramedullary nail prior to insertion of the intramedullary nail into a medullary cavity; after the intramedullary nail is inserted into a medullary cavity, acquiring bending information of an optical fiber in the intramedullary nail through an optical fiber sensing demodulator, and obtaining a motion matrix of the distal locking hole according to the bending information; according to the initial position and the motion matrix, acquiring the target pose of the distal locking hole of the intramedullary nail inserted into the medullary cavity in the optical fiber global coordinate system; based on a binocular camera, converting the target pose and the guide pose to a binocular camera coordinate system through a first optical marker and a second optical marker to obtain the relative spatial positioning of the distal locking hole and the guide after the intramedullary nail is inserted into the medullary cavity; the guide pose is tracked by the binocular camera for the second optical marker, the first optical marker disposed at the proximal end of the intramedullary nail, the second optical marker disposed at a surface of the guide.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A spatial positioning system for a distal locking hole of an intramedullary nail is characterized by comprising an optical fiber, an optical fiber sensing demodulator, a binocular camera, a guider and the intramedullary nail, wherein:
the optical fiber is used for measuring the deformation state of the intramedullary nail after being inserted into a medullary cavity, the first end of the optical fiber is inserted into and fixed in the hollow inner core of the intramedullary nail, the first end of the optical fiber is close to the distal locking hole of the intramedullary nail, and the second end of the optical fiber is connected with the input end of the optical fiber sensing demodulator;
the optical fiber sensor demodulator is used for acquiring the target pose of the distal locking hole of the intramedullary nail inserted into the medullary cavity in an optical fiber global coordinate system, and the optical fiber global coordinate system is determined based on the proximal end of the intramedullary nail;
a first optical marker and a second optical marker are arranged in the shooting range of the binocular camera and are used for converting the target pose and the guide pose into a binocular camera coordinate system to obtain the relative spatial positioning of the distal locking hole and the guide after the intramedullary nail is inserted into a medullary cavity, the first optical marker is arranged at the proximal end of the intramedullary nail, and the second optical marker is arranged on the surface of the guide; the position and posture of the guider are obtained by tracking the second optical marker through the binocular camera;
wherein, a plurality of gratings are carved in the optical fiber, and the optical fiber and the intramedullary nail are positioned on the same central shaft;
the spatial positioning system for the intramedullary nail distal locking hole is particularly used for:
acquiring an initial position of a distal locking hole of an intramedullary nail in a fiber global coordinate system determined based on a proximal end of the intramedullary nail prior to insertion of the intramedullary nail into a medullary cavity;
after the intramedullary nail is inserted into a medullary cavity, acquiring bending information of optical fibers in the intramedullary nail through an optical fiber sensing demodulator, and obtaining a motion matrix of the distal locking hole according to the bending information;
according to the initial position and the motion matrix, acquiring the target pose of the distal locking hole of the intramedullary nail inserted into the medullary cavity in the optical fiber global coordinate system;
based on a binocular camera, converting the target pose and the guide pose to a binocular camera coordinate system through a first optical marker and a second optical marker to obtain the relative spatial positioning of the distal end locking hole and the guide after the intramedullary nail is inserted into the medullary cavity; the guide pose is tracked by the binocular camera for the second optical marker, the first optical marker being disposed at the proximal end of the intramedullary nail, the second optical marker being disposed at a surface of the guide;
the spatial positioning system for the intramedullary nail distal locking hole is further used for:
acquiring the bending curvature and wavelength variation of each grating node in the optical fiber through an optical fiber sensing demodulator;
obtaining the curvature radius of each grating node according to the wavelength change amount and the bending curvature;
and fitting according to the curvature radius and the distribution position of each grating node to obtain a motion matrix of the far-end locking hole.
2. The spatial positioning system for a distal locking hole of an intramedullary nail of claim 1, wherein a guide tube is disposed in a hollow inner core of the intramedullary nail, the optical fiber being inserted through the guide tube and secured to the hollow inner core of the intramedullary nail, the optical fiber, the intramedullary nail and the guide tube being on a common central axis.
3. The spatial positioning system for a distal locking hole of an intramedullary nail of claim 2, wherein a scale is provided at a proximal end of the catheter.
4. The spatial positioning system for a distal locking hole of an intramedullary nail of claim 2, wherein the proximal end of the catheter and the proximal end of the intramedullary nail are fixedly connected by a fixation connector.
5. The spatial positioning system for a distal locking hole of an intramedullary nail of claim 4, wherein a loosening and tightening knob is provided on the fixation connector.
6. The spatial positioning system for a distal locking hole of an intramedullary nail of claim 1, further comprising a display, the binocular camera and the display being communicatively coupled.
7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of:
acquiring an initial position of a distal locking hole of an intramedullary nail in a fiber global coordinate system determined based on a proximal end of the intramedullary nail prior to insertion of the intramedullary nail into a medullary cavity;
after the intramedullary nail is inserted into a medullary cavity, acquiring bending information of optical fibers in the intramedullary nail through an optical fiber sensing demodulator, and obtaining a motion matrix of the distal locking hole according to the bending information;
according to the initial position and the motion matrix, acquiring the target pose of the distal locking hole of the intramedullary nail inserted into the medullary cavity in the optical fiber global coordinate system;
based on a binocular camera, converting the target pose and the guide pose to a binocular camera coordinate system through a first optical marker and a second optical marker to obtain the relative spatial positioning of the distal locking hole and the guide after the intramedullary nail is inserted into the medullary cavity; the guide pose is tracked by the binocular camera for the second optical marker, the first optical marker being disposed at the proximal end of the intramedullary nail, the second optical marker being disposed at a surface of the guide;
after the intramedullary nail is inserted into a medullary cavity, the bending information of the optical fiber in the intramedullary nail is obtained through an optical fiber sensing demodulator, and a motion matrix of the distal locking hole is obtained according to the bending information, and the method comprises the following steps:
acquiring the bending curvature and wavelength variation of each grating node in the optical fiber through an optical fiber sensing demodulator;
obtaining the curvature radius of each grating node according to the wavelength change amount and the bending curvature;
and fitting according to the curvature radius and the distribution position of each grating node to obtain a motion matrix of the far-end locking hole.
8. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of:
acquiring an initial position of a distal locking hole of an intramedullary nail in a fiber-optic global coordinate system determined based on a proximal end of the intramedullary nail prior to insertion of the intramedullary nail into a medullary cavity;
after the intramedullary nail is inserted into a medullary cavity, acquiring bending information of an optical fiber in the intramedullary nail through an optical fiber sensing demodulator, and obtaining a motion matrix of the distal locking hole according to the bending information;
according to the initial position and the motion matrix, acquiring the target pose of the distal locking hole of the intramedullary nail inserted into the medullary cavity in the optical fiber global coordinate system;
based on a binocular camera, converting the target pose and the guide pose to a binocular camera coordinate system through a first optical marker and a second optical marker to obtain the relative spatial positioning of the distal end locking hole and the guide after the intramedullary nail is inserted into the medullary cavity; the guide pose is tracked by the binocular camera for the second optical marker, the first optical marker being disposed at the proximal end of the intramedullary nail, the second optical marker being disposed at a surface of the guide;
after the intramedullary nail is inserted into a medullary cavity, the bending information of the optical fiber in the intramedullary nail is obtained through an optical fiber sensing demodulator, and a motion matrix of the distal locking hole is obtained according to the bending information, and the method comprises the following steps:
acquiring the bending curvature and wavelength variation of each grating node in the optical fiber through an optical fiber sensing demodulator;
obtaining the curvature radius of each grating node according to the wavelength change amount and the bending curvature;
and fitting according to the curvature radius and the distribution position of each grating node to obtain a motion matrix of the far-end locking hole.
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| CN117503333B (en) * | 2023-12-19 | 2024-06-04 | 真健康(珠海)医疗科技有限公司 | Puncture operation navigation positioning system |
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